Visualization.hh

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
#ifndef GZ_SIM_SYSTEMS_OPTICAL_TACTILE_PLUGIN_VISUALIZATION_HH_
#define GZ_SIM_SYSTEMS_OPTICAL_TACTILE_PLUGIN_VISUALIZATION_HH_
 
#include <memory>
#include <string>
 
#include <gz/sim/config.hh>
#include <gz/sim/System.hh>
#include <gz/msgs/marker.pb.h>
#include <gz/transport/Node.hh>
 
#include "gz/sim/components/ContactSensorData.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
namespace optical_tactile_sensor
{
  // This class handles the configuration and process of visualizing the
  // different elements needed for the Optical Tactile Sensor plugin.
  // Terminology:
  // "Contacts" refers to data from the contact sensor based on physics.
  // "Normal forces" refers to post-processed data from the depth camera based
  // purely on imagery.
  // These two sets of data are currently disjoint and visualized separately.
  class OpticalTactilePluginVisualization
  {
    public: OpticalTactilePluginVisualization(
        std::string &_modelName,
        gz::math::Vector3d &_sensorSize,
        double &_forceLength,
        float &_cameraUpdateRate,
        gz::math::Pose3f &_depthCameraOffset);
 
    private: void InitializeSensorMarkerMsg(
        gz::msgs::Marker &_sensorMarkerMsg);
 
    public: void RequestSensorMarkerMsg(
        gz::math::Pose3f const &_sensorPose);
 
    private: void InitializeContactsMarkerMsg(
        gz::msgs::Marker &_contactsMarkerMsg);
 
    public: void AddContactToMarkerMsg(
        gz::msgs::Contact const &_contact,
        gz::msgs::Marker &_contactsMarkerMsg);
 
    public: void RequestContactsMarkerMsg(
        components::ContactSensorData const *_contacts);
 
    private: void InitializeNormalForcesMarkerMsgs(
        gz::msgs::Marker &_positionMarkerMsg,
        gz::msgs::Marker &_forceMarkerMsg);
 
    public: void AddNormalForceToMarkerMsgs(
        gz::msgs::Marker &_positionMarkerMsg,
        gz::msgs::Marker &_forceMarkerMsg,
        gz::math::Vector3f &_position,
        gz::math::Vector3f &_normalForce,
        gz::math::Pose3f &_sensorWorldPose);
 
    public: void RequestNormalForcesMarkerMsgs(
        gz::msgs::Marker &_positionMarkerMsg,
        gz::msgs::Marker &_forceMarkerMsg);
 
    public: void RemoveNormalForcesAndContactsMarkers();
 
    private: gz::transport::Node node;
 
    private: std::string modelName;
 
    private: gz::math::Vector3d sensorSize;
 
    private: double forceLength;
 
    private: float cameraUpdateRate;
 
    private: gz::math::Pose3f depthCameraOffset;
 
    private: bool normalForcesMsgsAreInitialized{false};
  };
}  // namespace optical_tactile_sensor
}  // namespace systems
}  // namespace GZ_SIM_VERSION_NAMESPACE
}  // namespace sim
}  // namespace gz
 
#endif